Title :
Control System Design of an Autonomous Underwater Vehicle
Author :
Chen, Ming ; Zhan, Qiang ; Cai, Sanlong
Author_Institution :
Robot Res. Inst., Beijing Univ. of Aeronaut. & Astronaut.
Abstract :
The structure of an autonomous underwater vehicle is introduced, its dynamic model is established and simulation result is presented. Its stable and reliable control system design is discussed in detail from main control unit, communication unit to motor driving unit. A double-server, warm-cold backup scheme is used to design the control system of the AUV in order to make it more tolerant and reliable, and a fuzzy-PI control method is used to realize the reliable control of the motors of the AUV
Keywords :
PI control; control system synthesis; fuzzy control; reliability; remotely operated vehicles; stability; underwater vehicles; vehicle dynamics; AUV control system; autonomous underwater vehicle; communication unit; double-server warm-cold backup; fuzzy-PI control; main control unit; motor control; motor driving unit; reliable control system design; stable control; vehicle dynamics; Aerodynamics; Communication system control; Control systems; Global Positioning System; Navigation; Propellers; Propulsion; Tail; Underwater vehicles; Vehicle dynamics; AUV; control system; dynamic model; fuzzy-PI; reliability; simulation;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252736
